Team_2648/2026-Robot-Code
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made intake jimmy a method and added a button for it

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This commit is contained in:
NoahLacks63
2026-03-19 15:16:29 -04:00
parent d29acde2df
commit 235f43fd2e
2 changed files with 35 additions and 15 deletions
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16
src/main/java/frc/robot/RobotContainer.java
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@@ -310,6 +310,12 @@ public class RobotContainer {
secondary.rightBumper().onTrue(hood.trackToAngle(() -> Units.degreesToRadians(10)));
//10 degrees good for shooting ~33in away from hub
secondary.y().whileTrue(
intakePivot.jimmy(.2)
.andThen(
intakePivot.manualSpeed(() -> -0.5)
)
);
hood.setDefaultCommand(hood.trackToAngle(() -> {
Pose2d drivetrainPose = drivetrain.getPose();
@@ -374,18 +380,12 @@ public class RobotContainer {
NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
NamedCommands.registerCommand("jimmy",
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.2)
.andThen(intakePivot.manualSpeed(() -> 0.75).withTimeout(0.2))
)
intakePivot.jimmy(0.2)
);
NamedCommands.registerCommand("shoot N jimmy",
Commands.parallel(
Commands.repeatingSequence(
intakePivot.manualSpeed(() -> -0.75).withTimeout(0.5),
intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
),
intakePivot.jimmy(0.5),
spindexer.spinToShooter()
.alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
hood.trackToAngle(() -> Units.degreesToRadians(10)))

32
src/main/java/frc/robot/subsystems/IntakePivot.java
View File

@@ -14,6 +14,7 @@ import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakePivotConstants;
import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
@@ -80,12 +81,31 @@ public class IntakePivot extends SubsystemBase {
});
}
// public Command jimmy(){
// return run(() -> {
// leftMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
// rightMotor.set(0.5 * IntakePivotConstants.kMaxManualSpeedMultiplier);
// })
// }
/**
* Repeatedly moves the intake up and down. AKA "Jimmying" the intake
*
* @param time How long the intake will go both ways for (seconds)
* @return Command that repeatedly Jimmys the intake
*/
public Command jimmy(double time){
return Commands.repeatingSequence(
manualSpeed(() -> -0.75).withTimeout(time)
.andThen(manualSpeed(() -> 0.75).withTimeout(time))
);
}
/**
* Repeatedly moves the intake up and down. AKA "Jimmying" the intake
*
* @param time How long the intake will go both ways for (seconds)
* @return Command that repeatedly Jimmys the intake
*/
public Command jimmy(DoubleSupplier time) {
return Commands.repeatingSequence(
manualSpeed(() -> -0.75).withTimeout(time.getAsDouble())
.andThen(manualSpeed(() -> 0.75).withTimeout(time.getAsDouble()))
);
}
public Command stop() {
return manualSpeed(() -> 0);